Apparatus and methods for field operations based on historical field operation data

ABSTRACT

Methods, apparatus, systems and articles of manufacture are disclosed for field operations based on historical field operation data. An example apparatus disclosed herein includes a field map generator to generate a field map including locations of a plurality of crop rows, the locations of the plurality of crop rows determined based on a first implement path travelled by a first implement of a first vehicle during a first operation, the first implement having a first operational width, the first implement path different from a first vehicle path of the first vehicle during the first operation, and a guidance line generator to generate a guidance line for a second vehicle during a second operation on the field, the second vehicle including a second implement to perform the second operation, the second implement having a second operational width different from the first operational width, the guidance line based on (a) the field map and (b) the second operational width.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application arises from a continuation of U.S. patent applicationSer. No. 16/406,830, filed May 8, 2019. The entirety of U.S. patentapplication Ser. No. 16/406,830 is hereby incorporated herein byreference.

FIELD OF THE DISCLOSURE

This disclosure relates generally to agricultural techniques, and, moreparticularly, to apparatus and methods for field operations based onhistorical field operation data.

BACKGROUND

In recent years, agricultural vehicles have become increasinglyautomated. Agricultural vehicles may perform semi-autonomous orfully-autonomous operations on fields. Agricultural vehicles performoperations using implements including planting implements, sprayingimplements, harvesting implements, fertilizing implements, strip/tillimplements, etc.

SUMMARY

An example apparatus disclosed herein includes a guidance line generatorto generate a guidance line for operation of a vehicle during a secondoperation on a field, the guidance line based on (1) a field mapgenerated from location data collected during a first operation in thefield, the field map including locations of a plurality of crop rows and(2) an implement of the vehicle, the implement to perform the secondoperation on the field. The example apparatus further includes a drivecommander to cause the vehicle to traverse the field along the guidanceline and an implement commander to cause the implement to perform thesecond operation as the vehicle traverses the field along the guidanceline.

An example non-transitory computer readable storage medium disclosedherein includes instructions that, when executed, cause a processor togenerate a guidance line for operation of a vehicle during a secondoperation on a field, the guidance line based on (1) a field mapgenerated from location data collected during a first operation in thefield, the field map including locations of a plurality of crop rows and(2) an implement of the vehicle, the implement to perform the secondoperation on the field. The instructions, when executed, further causethe processor to cause the vehicle to traverse the field along theguidance line, and cause the implement to perform the second operationas the vehicle traverses the field along the guidance line.

An example method disclosed herein includes generating a guidance linefor operation of a vehicle during a second operation on a field, theguidance line based on (1) a field map generated from location datacollected during a first operation in the field, the field map includinglocations of a plurality of crop rows and (2) an implement of thevehicle, the implement to perform the second operation on the field. Theexample method further includes causing the vehicle to traverse thefield along the guidance line and causing the implement to perform thesecond operation as the vehicle traverses the field along the guidanceline.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic of an example vehicle constructed in accordancewith the teachings of this disclosure.

FIG. 2 is a schematic of an example controller of the vehicle of FIG. 1.

FIG. 3 is a schematic illustrating an example coverage-based mappingtechnique and an example row-based mapping technique.

FIG. 4A is an example field map generated using an example four-rowimplement.

FIG. 4B is an example first field map traversal schematic using anexample twelve-row sprayer in a subsequent operation on the fieldcorresponding to the field map of FIG. 4A.

FIG. 4C is an example second field map traversal schematic using anexample eight-row sprayer in a subsequent operation on the fieldcorresponding to the field map of FIG. 4A.

FIG. 4D is an example third field map traversal schematic using anexample four-row harvester in a subsequent operation on the fieldcorresponding to the field map of FIG. 4A.

FIG. 4E is an example fourth field map traversal schematic using anexample two-row harvester in a subsequent operation on the fieldcorresponding to the field map of FIG. 4A.

FIG. 4F is an example fifth field map traversal schematic using anexample one-row harvester in a subsequent operation on the fieldcorresponding to the field map of FIG. 4A.

FIG. 5A is an enlarged view of the example field map of FIG. 4Agenerated using a four-row implement.

FIG. 5B is an example sixth field map traversal schematic using anexample single row harvester with an example haulage vehicle on thefield corresponding to the field map of FIG. 5A.

FIG. 5C is an example seventh field map traversal schematic using theexample single row harvester of FIG. 5B on the field corresponding tothe field map of FIG. 5A.

FIG. 5D is an example eighth field map traversal schematic using theexample haulage vehicle of FIG. 5B on the field corresponding to thefield map of FIG. 5A.

FIG. 6A is an example ninth field map traversal schematic illustratingan original operation and a subsequent operation executed on a field mapwith a narrow guess row.

FIG. 6B is an example tenth field map traversal schematic illustratinganother original operation and another subsequent operation executed ona field map with an accurate guess row.

FIG. 7 is an example run screen to be displayed on an example userinterface of the vehicle of FIG. 1.

FIG. 8 is a flowchart representative of example machine readableinstructions that may be executed to implement the controller of FIGS. 1and 2 to perform an operation on a field using a field map.

FIG. 9 is a flowchart representative of example machine readableinstructions that may be executed to implement the controller of FIGS. 1and 2 to generate a first operation map.

FIG. 10 is a flowchart representative of example machine readableinstructions that may be executed to implement the controllers of FIGS.1 and 2 to automatically guide a vehicle along guidance line(s) andperform an operation on a field.

FIG. 11 is a block diagram of an example processing platform structuredto execute the example machine readable instructions of FIGS. 8-10 toimplement the controller of FIGS. 1 and 2. The figures are not to scale.In general, the same reference numbers will be used throughout thedrawing(s) and accompanying written description to refer to the same orlike parts.

Descriptors “first,” “second,” “third,” etc. are used herein whenidentifying multiple elements or components which may be referred toseparately. Unless otherwise specified or understood based on theircontext of use, such descriptors are not intended to impute any meaningof priority, physical order or arrangement in a list, or ordering intime but are merely used as labels for referring to multiple elements orcomponents separately for ease of understanding the disclosed examples.In some examples, the descriptor “first” may be used to refer to anelement in the detailed description, while the same element may bereferred to in a claim with a different descriptor such as “second” or“third.” In such instances, it should be understood that suchdescriptors are used merely for ease of referencing multiple elements orcomponents.

DETAILED DESCRIPTION

Agricultural vehicles perform numerous operations on fields usingdifferent implements. As an example, a planter implement may plant cropsat the beginning of a season. A sprayer implement may subsequently spraythe crops, and/or a fertilizer implement may subsequently fertilize thecrops. Different vehicles may be used for individual operations, ordifferent implements may be attached to a same vehicle (e.g., a tractor)to perform different operations. In some examples, a planting operation,a strip/till operation, or a fertilizer operation may be performedfirst, followed by a spraying operation, a harvesting operation (e.g., acombine or forage harvester), a side/top dress fertilizing operation, orany other field operation. As used herein, an “operation” can includeplanting, spraying, fertilizing, and/or performing any other task on afield. In some examples, operations performed on the field areadditionally or alternatively referred to as “treatments.” Further,performing such operations on a field can be referred to as “operatingupon” the field, “treating” the field, or “working” the field. In someexamples, an operation may include installation of permanent assets,such as beds or drip irrigation lines. While example orderings ofoperations (e.g., planting followed by fertilizing) may be discussedherein, operations may be performed in any order.

Automation of agricultural vehicles is highly commercially desirable, asautomation can improve the accuracy with which operations are performed,reduce operator fatigue, improve efficiency, and accrue other benefits.Automated vehicles move by following guidance lines. Conventionalguidance lines are generated by defining a first point (e.g., an “A”point) and a second point (e.g., a “B” point) and generating a line orcurve connecting the first point and the second point (e.g., an A-Bline, or an A-B curve). Automatically generating point-to-point guidancelines across a field dimension fails to account for topography of thefield and specific locations of crop rows. Most operations aresubsequent operations performed on a field (e.g., most operations areperformed on existing crops that are planted in the field).

In conventional automated agricultural vehicle systems, subsequentoperations may be manually performed by an operator or automaticallyperformed while accepting damage to the crop rows. In manual operations,the operator analyzes the crop rows and attempts to position theagricultural vehicle to operate on the crop rows to minimize damage tocrops or waste of product (e.g., spray, fertilizer, etc.). In someconventional examples, subsequent field operations are performedautomatically based on planned or expected crop row locations. However,due to sources of error, such as estimation of implement drift in curvedpaths, drift due to slopes in the terrain, uneven draft loads across thewidth of an implement which cause the implement to pull off-center,disturbances due to soil surface roughness, and/or other sources oferror, planned crop row locations are often significantly different thanactual crop row locations.

In some conventional implementations, agricultural vehicle systemsattempt to sense locations of crop rows as they operate. However, suchreal-time sensing is insufficient to avoid crop damage, and fails toreliably address unique crop row locations. Further, to ensure all cropsare operated upon (sprayed, fertilized, etc.), conventional agriculturalvehicle systems may utilize an overlap, where crop rows at the edge ofthe implement get operated upon twice in two successive passes,resulting in inefficiency and waste.

When a planting operation is performed, after completing planting of oneset of rows (e.g., one-pass of the field in a direction), the plantermust return in a new pass in the opposite direction. To begin a new setof rows, the operator must estimate a starting position for the firstrow at an end of the planting implement. Specifically, the operator musttry and line up the vehicle such that the first new row is spaced apartfrom the nearest existing crop row at the same spacing as exists betweenthe rest of the rows. Such edge rows are referred to as “guess rows,”since the operator must guess the appropriate spacing to plant the croprow. This is a very challenging task, which often results in the firstrow having too narrow a gap relative to the nearest existing row, or toolarge a gap. In subsequent operations, due to the irregularity of guessrows, an operator may have difficulty performing an operation on theguess rows. Additionally, the size of the guess row can vary from passto pass (e.g., between traversals) over the field, introducingadditional variability that makes subsequent operations increasinglydifficult. In some conventional implementations, an operator will merelydrive over and sacrifice these “guess rows” during subsequentoperations.

Further, in conventional agricultural systems, differences betweenoperational widths of implements complicate determination of drivingpaths. For example, if a twelve-row planter is utilized to plant thecrops, following the same guidance lines used with the twelve-rowplanter when using a sixteen-row cultivator/side-dress rig for afertilization operation will result in crop rows that are not sprayed.Farmers will often have a plurality of implements with different widths,and thus operators must manually determine driving paths that areappropriate based on the unique crop rows on the field and uniqueimplement widths. Further, even when the operational width of animplement in a subsequent operation is different than the operationalwidth of the implement in an original operation, utilizing the sameoriginal guidance lines in the subsequent operation fails to account forthe actual crop row locations (e.g., the crop rows may not bepredictably spaced around the original guidance line due to implementdrift).

Example methods, apparatus, systems, and articles of manufacture (e.g.,physical storage media) disclosed herein generate guidance lines forautomatic execution of subsequent operations on a field based on fieldmaps determined during previous operations. Some examples disclosedherein generate field maps based on location data (e.g., GPS andinertial data) and sensor data from implements to accurately representcrop rows in field maps. Example methods, apparatus, systems, andarticles of manufacture (e.g., physical storage media) disclosed hereinenable accurate navigation along guidance lines to accurately operateupon a field regardless of the terrain of the field and/or the size ofimplement utilized. Examples disclosed herein accurately operate uponguess rows by generating guidance lines specific to locations of theguess rows, eliminating potential operator error.

Performing subsequent operations based on field maps improves alignmentrelative to established row locations and minimizes damage to crops, asthe wheels of the agricultural vehicle can be positioned to avoidrunning over rows. Further, utilizing the automated guidance techniquesdisclosed herein, fields can be operated upon (e.g., harvested, sprayed,fertilized, etc.) faster since the guidance system can anticipateupcoming changes in the terrain and/or changes in crop row locations,rather than relying upon an operator to make adjustments and/or a sensorto sense changes in the terrain. Additionally, some crops, such as corn,require highly precise positioning of the implement (e.g., a harvestinghead, a platform for small grain harvesting, etc.) during harvesting.Utilization of accurate mapping data to generate precise guidance lineshelps ensure that crops are operated upon safely and efficiently.

Example techniques disclosed herein enable an operator to begin asubsequent operation at any location in a field, as mapping data can beutilized to automatically generate guidance lines for any location.Further, example techniques disclosed herein enable a coordinated worksystem in which a plurality of agricultural vehicles complete anoperation by each generating guidance lines based off shared mappingdata and knowledge of other vehicles' planned operations. Similarly, aplurality of agricultural vehicles can generate the field map during aninitial operation (e.g., a planting operation).

Example techniques disclosed herein further utilize individual sectionand/or nozzle control to ensure that if a portion of the implement ispassing over a crop row which has already been operated upon (e.g.,already sprayed), this portion of the implement does not perform aredundant operation.

FIG. 1 is a schematic of an example vehicle 102 constructed inaccordance with the teachings of this disclosure. The example vehicle102 includes an example main body 104 including an example cab 106 fromwhich an operator can operate the vehicle 102. In some examples whereinthe vehicle 102 is autonomous, the vehicle 102 may not include the cab106.

The vehicle 102 further includes an example implement 108. In theillustrated example of FIG. 1, the implement 108 is a plantingimplement. Specifically, the implement 108 is a twelve-row planter. Theimplement 108 plants crops in example crop rows 110 a-1. The implement108 may be separable from the vehicle 102, and exchanged with anotherimplement of a same or different implement type. For example, theimplement may be a sprayer implement, a fertilizer implement, a tillingimplement, a harvesting implement, and/or any other type of implement toperform an operation on a field. In some examples, the implement 108 isnot separable from the vehicle 102, and multiple vehicles may be used toperform different operations on a field. While the implement 108 of FIG.1 is a twelve row planter, the implement 108 may have any operationalwidth (e.g., four rows, eight rows, sixteen rows, etc.). The operationalwidth of the implement 108 defines the number of rows that can beoperated upon (e.g., planted, tilled, sprayed, etc.) in a single pass ofthe vehicle 102 over a field. While the implement 108 of the illustratedexample is capable of planting twelve rows simultaneously, in someexamples, only some of the rows are planted. For example, if aright-side of the implement 108 is traveling over a portion of a fieldthat has already been planted, the corresponding rows of the implement108 may be disabled to prevent performing a repeat operation.

Individual row portions of the implement 108 of the illustrated exampleof FIG. 1 include example implement sensors 112 a-l to detect whetherthe row portions of the implement 108 are performing operations. Whileonly the implement sensors 112 a-e are visible due to the angle of theperspective view of FIG. 1, additional implement sensors 112 f-l areunderstood to be mounted to portions of the implement 108 in alignmentwith crop rows 110 f-l. The implement sensors 112 a-l are eachpositioned on one of the portions of the implement 108 to detect whetheroperations are performed on individual rows. In some examples, theimplement sensors 112 a-l are switches which activate as a productpasses through the implement portion (e.g., as seed exits the implement108). Any type of sensor may be utilized to determine whether a portionof the implement 108 corresponding to a specific row is performing anoperation. The implement sensors 112 a-l communicate with an examplecontroller 116.

The implement 108 of the illustrated example of FIG. 1 includes anexample location sensor 114. The location sensor 114 of the illustratedexample is a global positioning system (GPS) sensor combined with aninertial sensor. The inertial sensor enables higher precision locationdata by enabling compensation for tilt of the vehicle 102. For example,if the vehicle 102 is tilted on a hill, the inertial sensor cancompensate for this tilt to enable accurate determination of a locationof the vehicle 102, and more specifically, accurate determination oflocations of portions of the implement 108. The example location sensor114 of the illustrated example is mounted to the implement 108 toprovide more accurate ground-level location data for subsequentdetermination of crop row locations. In some examples, the locationsensor 114 is mounted to another part of the vehicle 102 (e.g., the mainbody 104, the cab 106, etc.). In some examples, the location sensor 114includes multiple location sensors. In some such examples, the vehicle102 includes the location sensor 114 as a first sensor on the main body104 to provide a location for the vehicle 102 generally, and a secondsensor on the implement 108 to provide ground-level location data. Thelocation sensor 114 communicates to an example controller 116.

The example controller 116 of the illustrated example of FIG. 1 analyzesdata from one or more sensors and enables automated operation of thevehicle 102. The controller 116 of the illustrated example generatesfield maps and utilizes such field maps to automatically generateguidance lines based on the field maps and the type of implement in useby the vehicle 102. The controller 116 accesses implement sensor datafrom the implement sensors 112 a-l and location data from the locationsensor 114 to generate field maps. For example, the controller 116 candetermine locations of the crop rows 110 a-l based on the implementsensor data and the location data. The controller 116 of the illustratedexample issues commands to cause movement of the vehicle 102 bycommanding an example drive controller 118. Further, the controller 116of the illustrated example issues commands to cause operation of theimplement 108 by commanding an example implement controller 120 toperform an operation based on a field map and a parameter of theimplement 108. The controller 116 of the illustrated example furthercontrols an example user interface 122, which can provide mapping datato an operator and solicit input from the operator. Further detailpertaining to the controller 116 is illustrated and described inassociation with FIG. 2.

The example drive controller 118 of the illustrated example of FIG. 1causes movement of the vehicle 102. For example, the controller 116 canissue commands to the drive controller 118 for the vehicle 102 to moveaccording to a guidance line generated by the controller 116. In suchexamples, the drive controller 118 responds to these commands and causesmovement of the vehicle 102 (e.g., movement of the wheels, steeringadjustments, etc.).

The example implement controller 120 of the illustrated example of FIG.1 causes the implement 108 to perform an operation on the field. Forexample, the implement controller 120 can cause the implement 108 toplant, spray, harvest, and/or perform any other operation. In someexamples, the implement controller 120 causes portions of the implement108 to perform an operation, based on data from the controller 116indicating that some of the rows under the implement 108 have alreadybeen operated upon (e.g., as determined based on mapping data). In someexamples, the drive controller 118 and/or the implement controller 120may be integrated into the controller 116.

FIG. 2 is a schematic of the controller 116 of the vehicle 102 ofFIG. 1. The controller 116 includes an example field map handler 202, anexample location data analyzer 204, an example field map generator 206,an example map data store 208, an example field map analyzer 210, anexample user command accessor 212, an example user interfaceconfigurator 214, an example equipment parameter determiner 216, anexample guidance line generator 218, an example implement commander 220,an example drive commander 222, and an example operation performancetracker 224.

The example field map handler 202 of the illustrated example of FIG. 2analyzes location data and generates and stores field maps based on thelocation data. The field map handler 202 receives GPS data and/orinertial data from the location sensor 114. If a field map alreadyexists for a location indicated in the location data (e.g., indicatingthe current operation is a subsequent operation), then the field maphandler 202 can pass the location data (e.g., the GPS data and/or theinertial data) to the field map analyzer 210, which can retrieve thefield map from the map data store 208. Conversely, if a map has not beengenerated, the field map generator 206 can generate a new field mapbased on the location data. The field map handler 202 of the illustratedexample includes an example location data analyzer 204, an example fieldmap generator 206, and an example map data store 208.

The example location data analyzer 204 of the illustrated example ofFIG. 2 analyzes location data from the location sensor 114. In someexamples, the location data analyzer 204 receives GPS data and inertialdata from the location sensor 114, and analyzes the GPS data andinertial data to determine precise locations of the vehicle 102 and/orthe implement 108. In some examples, the location data from the locationsensor 114 already directly indicates locations of the vehicle 102and/or the implement 108. The location data analyzer 204 of theillustrated example determines, based on the location data, locations ofportions of the implement 108 corresponding to individual ones of thecrop rows 110. In some examples, the location data analyzer 204 queriesthe map data store 208 to determine whether a field map exists for thecurrent location of the vehicle 102. In some examples, the location dataanalyzer 204 determines whether a field map exists within a specifiedtime period (e.g., a field map from the past six months, a field mapfrom the past year, etc.), as outdated maps (outside the time period)may no longer be accurate if a field has been re-planted. In someexamples, the location data analyzer 204 communicates location data tothe field map analyzer 210 if a field map corresponding to the locationdata already exists.

The example field map generator 206 of the illustrated example of FIG. 2generates field maps based on location data from the location sensor114. In some examples, the location data analyzer 204 analyzes thelocation data to determine locations of the vehicle 102 and/or portionsof the implement 108, which are then received by the field map generator206. The field map generator 206 of the illustrated example creates anew map when location data is received for a location for which no mapdata, or no recent map data (e.g., from the current agricultural season)exists. The field map generator 206 of the illustrated example stores(a) location data including the guidance line which the vehicle 102followed while performing the initial operation (e.g., planting,tilling, etc.), (b) locations of portions of the implement 108 duringthe operation, and/or (c) as data from the implement sensors 112 a-lindicating whether an operation was performed by portions of theimplement 108.

In some examples, the operation performance tracker 224 updates thefield map generated by the field map generator 206 based on data fromthe implement sensors 112 a-l. For example, the operation performancetracker 224 may indicate that three portions of the implement 108 werenot utilized during a pass through a field. In some such examples, thefield map generator 206 updates the field map to indicate the operationdid not occur on the crop rows corresponding to these three portions ofthe implement 108 during the specified pass through the field.Therefore, the field map generated by the field map generator 206 canindicate (a) precise locations (e.g., accounting for displacements inall three-axes) of the vehicle's guidance line that was followed duringan initial operation, (b) precise locations of portions of the implement108 corresponding to crop rows, and/or (c) indications of whetherportions of the implement 108 were utilized during the initialoperation.

The field map generator 206 stores the field map in the map data store208 and/or another location accessible to the controller 116. In someexamples, field maps may be stored at a location accessible via anetwork, thereby enabling multiple vehicles to access field maps (e.g.,in case multiple vehicles perform a coordinated operation, in casedifferent vehicles are utilized in subsequent operations, etc.).

In some examples where an operation is executed by multiple vehicles incoordination, the field map generator 206 may combine mapping data(e.g., location data, implement operation data, etc.) from multiplevehicles into a common map for a field. In some such examples, the fieldmap generator 206 may be implemented on a network and/or at a centralcomputing system. In some examples, the field map generator 206 of onevehicle, such as the vehicle 102, serves as a primary field mapgenerator when multiple vehicles are performing a coordinated operation.In some examples, individual vehicles performing a coordinated operationmay calculate guidance lines and perform other guidance calculationsindependently, but based upon the same set of rules, such that thevehicles operate predictably and will be coordinated in performing theoperation.

The map data store 208 of the illustrated example of FIG. 2 stores fieldmaps, which can be subsequently accessed to enable automated operationof the vehicle 102 (e.g., via generation and utilization of accurate,crop row-specific guidance lines). In some examples, the map data store208 is accessible via a network. The map data store 208 may beimplemented by a volatile memory (e.g., a Synchronous Dynamic RandomAccess Memory (SDRAM), Dynamic Random Access Memory (DRAM), RAMBUSDynamic Random Access Memory (RDRAM), etc.) and/or a nonvolatile memory(e.g., flash memory). The map data store 208 may additionally oralternatively be implemented by one or more double data rate (DDR)memories, such as DDR, DDR2, DDR3, mobile DDR (mDDR), etc. The map datastore 208 may additionally or alternatively be implemented by one ormore mass storage devices such as hard disk drive(s), compact diskdrive(s) digital versatile disk drive(s), etc. While in the illustratedexample the map data store 208 is illustrated as a single database, themap data store 208 may be implemented by any number and/or type(s) ofdatabases. Furthermore, the data stored in the map data store 208 may bein any data format such as, for example, binary data, comma delimiteddata, tab delimited data, structured query language (SQL) structures,etc. The location data analyzer 204, the field map generator 206, thefield map analyzer 210, and/or the operation performance tracker 224 mayaccess and/or modify field maps stored in the map data store 208.

The example field map analyzer 210 of the illustrated example of FIG. 2analyzes field maps stored in the map data store 208. The field mapanalyzer 210 can retrieve field maps based on location data from thelocation data analyzer 204. The field map analyzer 210 can retrievefield maps for any location in a field, thereby enabling the guidanceline generator 218 to generate guidance lines at any location.Therefore, the field map analyzer 210 enables the vehicle 102 to beginan operation at any location in a field and accurately operate on thefield based on precise locations of the crop rows 110 a-l represented inthe field map. The field map analyzer 210 of the illustrated exampledetermines crop row locations based on field maps retrieved from the mapdata store 208. In some examples where multiple vehicles perform acoordinated operation, the field map analyzer 210 determines appropriateportions of a field map to communicate with individual vehiclesexecuting operations on portions of the field.

The example user command accessor 212 of the illustrated example of FIG.2 accesses commands issued by an operator. For example, the user commandaccessor 212 can receive commands entered by an operator via the userinterface 122. The user command accessor 212 can receive commands toperform various tasks, such as initiating or terminating an automatedoperation on a field, manually adjusting guidance lines for the vehicle102 to travel along, initiating or terminating collection of data (e.g.,location data, operation performance data, etc.), manually adjusting asetting of the implement (e.g., a spray power, a harvest speed, etc.),and/or any other tasks associated with operation of the vehicle 102. Theuser command accessor 212 analyzes command(s) entered by an operator andcauses implementation of the command(s). For example, if an operatorenters a command to cease all data collection, the user command accessor212 can communicate with the operation performance tracker 224 to ceaseanalysis and storage of implement operation data and the location dataanalyzer 204 to cease analysis and storage of location data (e.g., GPSdata, inertial data, etc.). Example commands which may be received atthe user command accessor 212 include those that may be issued from therun screen 702 illustrated and described in association with FIG. 7.

The example user interface configurator 214 of the illustrated exampleof FIG. 2 configures the user interface 122. For example, the userinterface configurator 214 can communicate data and/or images to bedisplayed on the user interface 122. In some examples, the userinterface configurator 214 communicates map data from the field mapanalyzer 210 and/or the map data store 208 to the user interfaceconfigurator 214 to cause the user interface 122 to display a field map,crop row locations, and/or other data included in a field map. In someexamples, the user interface configurator 214 accesses guidance linesgenerated by the guidance line generator 218 and causes the userinterface 122 to display the guidance lines over the field map for aspecific operation (e.g., planting, cultivating, spraying, etc.). Insome examples, the user interface configurator 214 communicatesoperation performance data from the operation performance tracker 224 tobe displayed on the user interface 122. In some such examples, the userinterface 122 may display color and/or shading indicating areas in whichan operation has been performed. An example user interface configured bythe user interface configurator 214 is illustrated and described inassociation with FIG. 7.

The example equipment parameter determiner 216 of the illustratedexample of FIG. 2 determines parameters of the implement 108. Forexample, the equipment parameter determiner 216 may determine a type ofthe implement 108 (e.g., harvester, sprayer, planter, etc.), anoperational width of the implement 108 (e.g., one-row, four-rows,eight-rows, etc.), and/or any other parameters for the implement 108. Insome examples, the equipment parameter determiner 216 automaticallyreceives data from the implement 108 when the implement 108 is connectedto the vehicle 102. In some examples, the user command accessor 212accesses commands including parameters association with the implement108. For example, an operator may input a type and/or width of theimplement into the user interface 122, which can then be accessed by theuser command accessor 212 and communicated to the equipment parameterdeterminer 216.

In some examples, the equipment parameter determiner 216 communicateswith the guidance line generator 218 to enable generation of guidancelines that are specific to parameters of the implement 108. For example,if a field to be operated upon includes thirty-six rows according to thefield map as analyzed by the field map analyzer 210, and the equipmentparameter determiner 216 determines that the implement 108 can operateon four rows at a time, the guidance line generator 218 may cause nineguidance lines to be generated to ensure all rows are operated upon.

The example guidance line generator 218 of the illustrated example ofFIG. 2 generates guidance lines that are specific to the implement 108attached to the vehicle 102 and/or specific to the field mapcorresponding to a current field being operated upon. The guidance linegenerator 218 of the illustrated example generates guidance lines toensure the vehicle 102 moves along a path that allows the implement 108to perform its designated operation (e.g., planting, spraying,fertilizing, etc.) most efficiently. For example, the guidance linegenerator 218 generates as few guidance lines as possible to cover anentire field. In some examples, the guidance line generator 218generates guidance lines to avoid wheels of the vehicle 102 or wheels ofthe implement 108 running over crops rows. For example, sugar cane cropsare susceptible sustaining significant permanent damage (as it is aperennial crop) if run over. Hence, the guidance line generator 218 ofthe illustrated example generates guidance lines that ensure accurate,efficient and safe guidance lines for the vehicle 102 to follow whenoperating autonomously. The equipment parameter determiner 216 receivesinformation pertaining to crop rows identified in field maps by thefield map analyzer 210 and information pertaining to equipmentparameters from the equipment parameter determiner 216. The guidanceline generator 218 outputs guidance lines to the drive commander 222 andthe implement commander 220 to enable the drive commander 222 to followthe guidance lines when the vehicle 102 is operating in an autonomousmode, and to enable the implement commander 220 to foresee the route ofthe vehicle 102 and cause the implement 108 to perform efficientoperations (e.g., not repeating operations on rows that are passed overtwice). The guidance line generator 218 of the illustrated examplecommunicates the guidance lines to the user interface configurator 214to enable an operator to view the guidance lines on the user interface122.

The implement commander 220 of the illustrated example of FIG. 2 causesthe implement 108 to perform operations on the field. The implementcommander 220 actuates portions of the implement 108 to cause anoperation (e.g., planting, tilling, spraying) to be executed by theportions of the implement 108. The implement commander 220 utilizesfield map data from the field map analyzer 210 and guidance line datafrom the guidance line generator 218 to cause portions of the implement108 to perform operations. For example, if the implement commander 220receives guidance line data indicating that a centerline of the vehicle102 will be traveling between rows five and six, the implement commander220 can reference corresponding field map data from the field mapanalyzer to determine whether the current operation (e.g., correspondingto the current type of implement) has already been performed on rowsthat will be passed by the implement 108. In some such examples, theimplement 108 can selectively activate portions of the implement 108 tointelligently perform operations on only those rows which have not yetbeen operated upon. The implement commander 220 of the illustratedexample communicates implement control commands to the implementcontroller 120. In some examples, the implement commander 220 can sendimplement control commands to the implement controller 120 based onmanual operator inputs (e.g., implement controls manually actuated bythe operator).

The drive commander 222 of the illustrated example of FIG. 2 issuesdrive control commands to the drive controller 118 to cause the vehicle102 to move. In some examples, the drive commander 222 issues the drivecontrol commands to cause the vehicle 102 to move along a guidance linegenerated by the guidance line generator 218. In some examples, thedrive commander 222 issues drive control commands based on user commandsinput into the user interface 122 (e.g., as accessed by the user commandaccessor 212) or commands otherwise issued form another control in thecab 106. The drive commander 222 of the illustrated example causescomponents of the vehicle 102 to adjust to terrain represented in thefield map analyzed by the field map analyzer 210 while traversing aguidance line. In some examples, the drive commander 222 may operateautonomously (e.g., cause the vehicle 102 to automatically followguidance lines generated by the guidance line generator 218), while theimplement commander 220 may be manually operated (e.g., may beresponsive to manual operator inputs), or vice-versa. In some examples,in a fully automated mode, both the drive commander 222 and theimplement commander 220 operate autonomously based on location data,field map data, equipment parameters, guidance lines, and/or implementoperation data.

The operation performance tracker 224 of the illustrated example of FIG.2 analyzes implement operation data from the implement sensors 112 a-l.The operation performance tracker 224 of the illustrated exampleintegrates operation performance data into one or more field mapscorresponding to a field currently under operation. For example, if theimplement operation data indicates that a portion of the crop rows 110a-c was operated upon, the data from the corresponding implement sensors112 a-c can be analyzed by the operation performance tracker 224, andthe field map corresponding to a current location (e.g., as determinedby the location data analyzer) can be updated to include data indicatingthese rows have upon operated upon. In such examples, the implementcommander 220 can intelligently operate the implement 108 to avoidperforming a repeat operation on these rows 110 a-c. The operationperformance tracker 224 may directly modify field maps from the map datastore 208 and/or another storage location, or may communicate implementoperation data to the field map analyzer 210, the field map generator206, and/or the implement commander 220.

In operation, the field map handler 202 enables generation of field mapsby analyzing location data using the location data analyzer 204,generating maps based on the location data using the field map generator206, and storing the field maps for subsequent use in the map data store208. When a vehicle 102 travels over a field that has been mapped, thefield map analyzer 210 can analyze the existing map and determine croprow locations and other data to enable automated navigation andoperation throughout the field. The user command accessor 212 canprocess a variety of commands from an operator via the user interface122 or another component in the cab 106. The user interface configurator214 communicates user interface data to the user interface 122 such thatfield maps and other data can be displayed on the user interface 122 forthe operator. The equipment parameter determiner 216 determinesparameters (e.g., a type of implement, an operational width of animplement, etc.) of the implement 108. The guidance line generator 218utilizes field map(s) and/or equipment parameters to generate guidancelines for the vehicle 102, which are subsequently employed by theimplement commander 220 and the drive commander 222 to enable automatednavigation and operation of the vehicle 102. The operation performancetracker 224 monitors implement operation data to update field maps basedon operations that have been performed.

While an example manner of implementing the controller 116 of FIG. 1 isillustrated in FIG. 2, one or more of the elements, processes and/ordevices illustrated in FIG. 2 may be combined, divided, re-arranged,omitted, eliminated and/or implemented in any other way. Further, theexample field map handler 202, the example location data analyzer 204,the example field map generator 206, the example map data store 208, theexample field map analyzer 210, the example user command accessor 212,the example user interface configurator 214, the example equipmentparameter determiner 216, the example guidance line generator 218, theexample implement commander 220, the example drive commander 222, theexample operation performance tracker 224 and/or, more generally, theexample controller 116 of FIG. 2 may be implemented by hardware,software, firmware and/or any combination of hardware, software and/orfirmware. Thus, for example, any of the example field map handler 202,the example location data analyzer 204, the example field map generator206, the example map data store 208, the example field map analyzer 210,the example user command accessor 212, the example user interfaceconfigurator 214, the example equipment parameter determiner 216, theexample guidance line generator 218, the example implement commander220, the example drive commander 222, the example operation performancetracker 224 and/or, more generally, the example controller 116 of FIG. 2could be implemented by one or more analog or digital circuit(s), logiccircuits, programmable processor(s), programmable controller(s),graphics processing unit(s) (GPU(s)), digital signal processor(s)(DSP(s)), application specific integrated circuit(s) (ASIC(s)),programmable logic device(s) (PLD(s)) and/or field programmable logicdevice(s) (FPLD(s)). When reading any of the apparatus or system claimsof this patent to cover a purely software and/or firmwareimplementation, at least one of the example field map handler 202, theexample location data analyzer 204, the example field map generator 206,the example map data store 208, the example field map analyzer 210, theexample user command accessor 212, the example user interfaceconfigurator 214, the example equipment parameter determiner 216, theexample guidance line generator 218, the example implement commander220, the example drive commander 222, the example operation performancetracker 224 and/or, more generally, the example controller 116 of FIG. 2is/are hereby expressly defined to include a non-transitory computerreadable storage device or storage disk such as a memory, a digitalversatile disk (DVD), a compact disk (CD), a Blu-ray disk, etc.including the software and/or firmware. Further still, the examplecontroller 116 of FIG. 3 may include one or more elements, processesand/or devices in addition to, or instead of, those illustrated in FIG.2, and/or may include more than one of any or all of the illustratedelements, processes and devices. As used herein, the phrase “incommunication,” including variations thereof, encompasses directcommunication and/or indirect communication through one or moreintermediary components, and does not require direct physical (e.g.,wired) communication and/or constant communication, but ratheradditionally includes selective communication at periodic intervals,scheduled intervals, aperiodic intervals, and/or one-time events.

FIG. 3 is a schematic illustrating an example coverage-based mappingtechnique and an example row-based mapping technique. The schematicincludes an example coverage map 302 and an example row map 304. Theexample coverage map 302 includes shading on areas where an operationhas been performed. In the example coverage map 302, rectangular areasare utilized as approximations of where the implement 108 performed anoperation. During subsequent use of the coverage map 302 to generateguidance lines for autonomous operation of the vehicle 102, the guidanceline generator 218 would not be able to identify locations of specificcrop rows, as the coverage map 302 merely indicates generally where anoperation was performed.

The example row map 304 of the illustrated example of FIG. 3 includesexample crop row lines 308 a-d, which illustrate precise locations ofcrop rows on the field. The row map 304 further includes an exampleguidance line 310, illustrating a path that the vehicle 102 followed oris to follow while traversing the field. The crop row lines 308 a-d canbe integrated in the field map by utilizing data from the operationperformance tracker 224, the equipment parameter determiner 216, and/orthe location data analyzer 204. For example, the location data analyzer204 can determine a location of the vehicle 102 based on location datafrom the location sensor 114. Accurate positions of individual portionsof the implement 108 can be determined by extrapolating the locationdata for the vehicle 102 based on a known width of the implement and aknown location of the location sensor 114 relative to the implement 108.Finally, the operation performance tracker 224 can determine whetherportions of the implement 108 were actually utilized during anoperation, which therefore determines whether those crop rows shouldexist in a new field map. For example, if a map is generated during aninitial planting operation, the crop row lines 308 a-d should only begenerated at locations of crop rows that are actually planted, accordingto the operation performance tracker 224.

Utilizing a row-based mapping technique allows subsequent generation ofaccurate guidance lines to perform an operation upon the crop rows usinga different implement (which may have a different width) at a latertime. Conversely, utilizing a coverage-based map which only depictsgeneral areas which have been operated upon may result in guidance linesbeing generated that cause overlap of operations, damage to crops,and/or crop rows remaining untreated during subsequent operations.

FIG. 4A is an example field map 402 generated using an example four-rowimplement. The field map 402 of the illustrated example of FIG. 4Aincludes a plurality of example crop row lines 404 and a plurality ofexample original guidance lines 406. The crop row lines 404 accuratelyillustrate locations of crop rows on the field. For example, the croprow lines 404 can accurately represent crop row locations based onlocation data determined directly on the implement, therefore accountingfor potential implement drift during the operation. The originalguidance lines 406 depict a path that was followed by the vehicle whichgenerated the field map. For each one of the original guidance lines406, there are four crop row lines 404 distributed around the one of theoriginal guidance lines 406, indicating that the implement of theoriginal vehicle that performed the mapping had an operational width offour-rows. While only one of the crop row lines 404 and one of theoriginal guidance lines 406 are labeled, all lines in FIGS. 4A-4F whichhave the same line type (using the same dashing pattern) are understoodto refer to the same type of element.

FIG. 4B is an example first field map traversal schematic 408 using anexample twelve-row sprayer 410 in a subsequent operation on the fieldcorresponding to the field map 402 of FIG. 4A. The first field maptraversal schematic 408 includes an example guidance line 412 for thetwelve-row sprayer 410. The twelve-row sprayer 410 has an operationalwidth that is three times larger than the operational width of theimplement which performed the original operation. Thus, there is onlythe guidance line 412 in the first field map traversal schematic 408 inorder for the twelve-row sprayer to perform a spraying operation ontwelve of the crop row lines 404.

FIG. 4C is an example second field map traversal schematic 414 using anexample eight-row sprayer 416 in a subsequent operation on the fieldcorresponding to the field map 402 of FIG. 4A. The second field maptraversal schematic 414 includes an example guidance line 418 for theeight-row sprayer 416. The eight-row sprayer 416 has an operationalwidth that is two times larger than the operational width of theimplement which performed the original operation. Thus, there is onlythe guidance line 418 in the second field map traversal schematic 414 inorder for the eight-row sprayer 416 to perform a spraying operation oneight of the crop row lines 404.

FIG. 4D is an example third field map traversal schematic 420 using anexample four-row harvester 422 in a subsequent operation on the fieldcorresponding to the field map 402 of FIG. 4A. The third field maptraversal schematic 420 includes example guidance lines 424 for thefour-row harvester 422. While the guidance lines 424 of the third fieldmap traversal schematic 420 substantially overlap the original guidancelines 406, in some examples, due to implement drift or other factors,the actual crop row locations may be different such that the guidancelines 424 are different from the original guidance lines 406 to bestoperate upon the crop rows, despite the operational width of thefour-row harvester 422 being the same as the four-row implement of theoriginal operation.

FIG. 4E is an example fourth field map traversal schematic 426 using anexample two-row harvester 428 in a subsequent operation on the fieldcorresponding to the field map 402 of FIG. 4A. The fourth field maptraversal schematic 426 includes example guidance lines 430 for thetwo-row harvester 428. Since the two-row harvester 428 has anoperational width that is half that of the four-row implement used inthe original operation, there are twice as many of the guidance lines430 in the fourth field map traversal schematic 426 relative to theoriginal guidance lines 406.

FIG. 4F is an example fifth field map traversal schematic 432 using anexample one-row harvester 434 in a subsequent operation on the fieldcorresponding to the field map 402 of FIG. 4A. The fifth field maptraversal schematic 432 includes example guidance lines 436 which aredisplayed directly over the crop row lines 404 of the field map 402,since the one-row harvester 434 must individually pass over each croprow to harvest the field. The one-row harvester 434 therefore requiresfour times as many guidance lines as the four-row implement used in theoriginal operation.

FIG. 5A is an enlarged view of the example field map 402 of FIG. 4Agenerated using a four-row implement.

FIG. 5B is an example sixth field map traversal schematic 502 using anexample single row harvester 504 with an example haulage vehicle 506 ona portion of the field corresponding to the field map 402 of FIG. 5A.The single row harvester 504 is a first implement which harvests thecrop rows, and the haulage vehicle 506 is a second implement which isused to store the harvest during operation. Hence, the controller 116must generate guidance lines for the vehicle based on operational widthsand relative positioning of both the single row harvester 504 and thehaulage vehicle 506. For clarity, the guidance lines for the single rowharvester 504 and the haulage vehicle 506 are omitted from FIG. 5B, andinstead illustrated with each of the implements individually in FIGS. 5Cand 5D. While individual guidance lines are illustrated for each of theimplements (the single row harvester 504 and the haulage vehicle 506) inFIGS. 5C, 5D, the controller (e.g., the guidance line generator 218) maygenerate a single guidance line for the overall vehicle to follow basedon the individual guidance lines for the implements.

FIG. 5C is an example seventh field map traversal schematic 508 usingthe example single row harvester 504 of FIG. 5B on the fieldcorresponding to the field map 402 of FIG. 5A. Since the single rowharvester 504 is only capable of operating on one row at a time, exampleguidance lines 510 of FIG. 5C for the single row harvester 504 overlapon all crop rows of the field map 402 to ensure all crop rows areoperated upon. While the guidance lines 510 of the illustrated examplesubstantially overlap the original guidance lines 406, in some examples,even when the operational width of the vehicle implement performing thesubsequent operation is the same as the operational width of the vehicleimplement performing the original operation, the guidance lines may notoverlap. For example, due to drift of the implement, crop row locationsmay not be evenly distributed around the original guidance line. In somesuch examples, when a subsequent operation is performed, the guidancelines may be generated in different locations than the original guidancelines to better target the actual locations of the crop rows. Thus, thebenefit of having knowledge of specific locations of the crop rows canbe realized even in examples where a subsequent vehicle has a sameoperational width as an original vehicle.

FIG. 5D is an example eighth field map traversal schematic 512 using theexample haulage vehicle 506 of FIG. 5B on the field corresponding to thefield map 402 of FIG. 5A. The eighth field map traversal schematic 512includes example guidance lines 514 for the haulage vehicle 506. Theguidance lines 514 of the illustrated example of FIG. 5D are generated(e.g., by the guidance line generator 218) such that wheels of thehaulage vehicle 506 do not drive over the crop rows represented by thecrop row lines 404. The haulage vehicle 506 does not perform anoperation on the crop rows itself, but instead assists the single-rowharvester 504. Hence, the guidance lines 514 of FIG. 5B are notgenerated to enable an operation on the crop rows, but to avoid damagingthe crop rows (e.g., by driving over them with the haulage vehicle 506).

FIG. 6A is an example ninth field map traversal schematic 602illustrating an example original operation and an example subsequentoperation executed on a field map with a narrow guess row. The ninthfield map traversal schematic 602 includes an original vehicle 604 whichperformed the original operation and generate the field map. The twoinstances of the original vehicle 604 represents subsequent passes ofthe same original vehicle 604. The ninth field map traversal schematic602 includes example crop row lines 606 indicating locations at whichthe crop rows were operated upon (e.g., planted) during the originaloperation. In the ninth field map traversal schematic 602, the originaloperation exhibited an example narrow guess row 608, meaning that outercrop rows from consecutive passes of the original vehicle 604 have anarrow spacing relative to other crop rows. Without accurate knowledgeof the crop row locations (e.g., as provided by field maps generatedusing techniques disclosed herein), subsequent operations performed onthe field may drive over the narrow guess row 608, and/or otherwiseimproperly operate upon the crop rows of the narrow guess row 608.

Utilizing field mapping techniques disclosed herein, a subsequentoperation can accurately generate guidance lines to appropriatelyoperate upon a field with a narrow guess row. For example, the ninthfield map traversal schematic 602 includes an example subsequent vehicle610 with a twelve-row implement. The twelve-row implement couldtheoretically operate upon all of the crop rows represented by the croprow lines 606, but to do so, the subsequent vehicle 610 would have todrive in the center of the crop rows, and may end up driving over thenarrow guess row 608. To avoid this, example guidance lines 612 aregenerated accounting for the specific positions of the crop rows and thewidth of the implement of the subsequent vehicle 610. The exampleguidance lines 612 cause the subsequent vehicle 610 to travel betweenrows with regular widths, thus avoiding driving through the narrow guessrow 608. In such examples, the implement commander 220 of the controller116 can cause portions of the implement to be enabled and/or disabledbased on whether crop rows beneath the implement have been operatedupon. Based on the positioning of the guidance lines 612, utilizing allportions of the implement throughout the entire traversal would resultin repeated operations, and hence, the implement must be selectivelyactivated over rows which have not yet been operated upon.

FIG. 6B is an example tenth field map traversal schematic 614illustrating another original operation and another subsequent operationexecuted on a field map with an accurate guess row. The tenth field maptraversal schematic 614 includes the example original vehicle 604 andthe example subsequent vehicle 610. In the tenth field map traversalschematic 614, the original operation is performed by the originalvehicle 604 with example crop row lines 606 including an exampleaccurate guess row 618 (e.g., a guess row where the spacing betweenouter crop rows operated upon by the original implement duringconsecutive passes are spaced approximately equally to other crop rows).In the illustrated example of FIG. 6B, the subsequent vehicle 610utilizes an example guidance line 620 that is in between crop rows ofthe accurate guess row 618. The guidance line generator 218 of theillustrated example of FIG. 2 can generate the guidance line 620centrally such that the twelve-row implement of the subsequent vehicle610 can operate upon all of the twelve crops rows without the subsequentvehicle 610 running over any of the crop rows (e.g., as may happenutilizing the guidance line 620 of FIG. 6B with the narrow guess row ofFIG. 6A. Hence, guidance lines generated for automated vehicle operationutilizing techniques disclosed herein enable accurate and efficientoperation on a field regardless of unique spacing of crop rows (e.g.,regardless of differently-sized guess rows, regardless of contours ofthe field, etc.).

FIG. 7 is an example run screen 702 to be displayed on the example userinterface 122 of the vehicle 102 of FIG. 1. The example run screen 702includes an example navigation display portion 704 to display mappingdata, guidance lines, crop row locations, and/or other informationpertinent to navigation of the vehicle 102.

The navigation display portion 704 includes an example vehicle positionindicator 706 displaying a current position of the vehicle 102 relativeto the field illustrated in the navigation display portion 704.

The navigation display portion 704 further includes example crop rowlines 708, illustrating precise locations of crop rows, as determinedfrom a previously generated field map (e.g., generated by the field mapgenerator 206 during an initial operation).

The navigation display portion 704 includes an example current guidanceline 710 (displayed as a solid line) that the vehicle 102 is followingduring its automated operation on the field. In some examples, thecurrent guidance line 710 is generated by the guidance line generator218 of the controller 116 of FIG. 2. Similarly, the navigation displayportion 704 includes example past or future guidance lines 712, whichindicate guidance lines that are either not yet being followed or werealready followed during previous operation.

The navigation display portion 704 includes an example implementposition line 714, indicating a current position and operational widthof the implement 108. Behind the implement (e.g., under the implement,in the view of FIG. 7) on the field is an example coverage section 716.The coverage section 716 provides shading for areas which have beenoperated upon by the implement 108. In some examples, the operationperformance tracker 224 indicates portions of the implement 108 whichhave been enabled throughout an operation. In some such examples, thisimplement operation data can be combined with location data indicating aposition of the implement 108 to plot the coverage section 716.

The run screen 702 of the illustrated example of FIG. 7 includes anexample guidance portion 718. The guidance portion 718 includes anexample set track button 720 to allow an operate to determine a track(e.g., one or more guidance lines) for the vehicle 102 to follow. Insome examples, the tracks (e.g., the plurality of guidance lines) aredetermined automatically based on a location of the vehicle 102 andexisting field maps. In some examples, the set track button 720 allowsthe user to select a guidance line and/or begin the process of manuallycreating a new guidance line (e.g., in the absence of mapping data). Theguidance portion 718 further includes an example track adjustmentportion 722 to enable manual adjustments of the guidance line. Forexample, if the current guidance line 710 appears to be problematic(e.g., the operator notices that the vehicle 102 is driving over a croprow), the operator can manually shift a position of the current guidanceline 710.

The run screen 702 of the illustrated example of FIG. 7 further includesan example setup button 724. The setup button 724, when pressed, allowsan operator to adjust parameters of the vehicle 102 and/or the implement108. For example, if the implement 108 does not automaticallycommunicate parameters (e.g., an operational width, an implement type,etc.) to the controller 116, the operator can enter these parametersinto a prompt provided when the setup button 724 is pressed.

The run screen 702 of the illustrated example of FIG. 7 includes anexample work recording button 726. When actuated to “on,” as shown inthe illustrated example of FIG. 7, the controller 116 records implementoperation data, thereby enabling generation of the coverage section 716.In some examples, the operation performance tracker 224 communicatesoperation performance data to the map data store 208, the field mapanalyzer 210, and/or the field map generator 206, such that the coveragesection 716 can be stored in the field map and accessed by an operatorto view portions of the field which have been operated upon.

The run screen 702 of the illustrated example of FIG. 7 includes anexample auto-trac button 728, which allows an operator to enable ordisable automated guidance of the vehicle 102 and/or automated operationof the implement 108. Since the auto-trac button is listed as enabled inFIG. 7, the vehicle 102 is operating in an automated mode, automaticallygenerating and following guidance lines and performing operations withthe implement 108 based on existing field maps.

Flowcharts representative of example hardware logic, machine readableinstructions, hardware implemented state machines, and/or anycombination thereof for implementing the controller 116 of FIGS. 1 and 2are shown in FIGS. 8-10. The machine readable instructions may be one ormore executable programs or portion(s) of an executable program forexecution by a computer processor such as the processor 1112 shown inthe example processor platform 1100 discussed below in connection withFIG. 11. The program may be embodied in software stored on anon-transitory computer readable storage medium such as a CD-ROM, afloppy disk, a hard drive, a DVD, a Blu-ray disk, or a memory associatedwith the processor 1112, but the entire program and/or parts thereofcould alternatively be executed by a device other than the processor1112 and/or embodied in firmware or dedicated hardware. Further,although the example program is described with reference to theflowcharts illustrated in FIGS. 8-10, many other methods of implementingthe example controller 116 may alternatively be used. For example, theorder of execution of the blocks may be changed, and/or some of theblocks described may be changed, eliminated, or combined. Additionallyor alternatively, any or all of the blocks may be implemented by one ormore hardware circuits (e.g., discrete and/or integrated analog and/ordigital circuitry, an FPGA, an ASIC, a comparator, anoperational-amplifier (op-amp), a logic circuit, etc.) structured toperform the corresponding operation without executing software orfirmware.

The machine readable instructions described herein may be stored in oneor more of a compressed format, an encrypted format, a fragmentedformat, a packaged format, etc. Machine readable instructions asdescribed herein may be stored as data (e.g., portions of instructions,code, representations of code, etc.) that may be utilized to create,manufacture, and/or produce machine executable instructions. Forexample, the machine readable instructions may be fragmented and storedon one or more storage devices and/or computing devices (e.g., servers).The machine readable instructions may require one or more ofinstallation, modification, adaptation, updating, combining,supplementing, configuring, decryption, decompression, unpacking,distribution, reassignment, etc. in order to make them directly readableand/or executable by a computing device and/or other machine. Forexample, the machine readable instructions may be stored in multipleparts, which are individually compressed, encrypted, and stored onseparate computing devices, wherein the parts when decrypted,decompressed, and combined form a set of executable instructions thatimplement a program such as that described herein. In another example,the machine readable instructions may be stored in a state in which theymay be read by a computer, but require addition of a library (e.g., adynamic link library (DLL)), a software development kit (SDK), anapplication programming interface (API), etc. in order to execute theinstructions on a particular computing device or other device. Inanother example, the machine readable instructions may need to beconfigured (e.g., settings stored, data input, network addressesrecorded, etc.) before the machine readable instructions and/or thecorresponding program(s) can be executed in whole or in part. Thus, thedisclosed machine readable instructions and/or corresponding program(s)are intended to encompass such machine readable instructions and/orprogram(s) regardless of the particular format or state of the machinereadable instructions and/or program(s) when stored or otherwise at restor in transit.

As mentioned above, the example processes of FIGS. 8-10 may beimplemented using executable instructions (e.g., computer and/or machinereadable instructions) stored on a non-transitory computer and/ormachine readable medium such as a hard disk drive, a flash memory, aread-only memory, a compact disk, a digital versatile disk, a cache, arandom-access memory and/or any other storage device or storage disk inwhich information is stored for any duration (e.g., for extended timeperiods, permanently, for brief instances, for temporarily buffering,and/or for caching of the information). As used herein, the termnon-transitory computer readable medium is expressly defined to includeany type of computer readable storage device and/or storage disk and toexclude propagating signals and to exclude transmission media.

“Including” and “comprising” (and all forms and tenses thereof) are usedherein to be open ended terms. Thus, whenever a claim employs any formof “include” or “comprise” (e.g., comprises, includes, comprising,including, having, etc.) as a preamble or within a claim recitation ofany kind, it is to be understood that additional elements, terms, etc.may be present without falling outside the scope of the correspondingclaim or recitation. As used herein, when the phrase “at least” is usedas the transition term in, for example, a preamble of a claim, it isopen-ended in the same manner as the term “comprising” and “including”are open ended. The term “and/or” when used, for example, in a form suchas A, B, and/or C refers to any combination or subset of A, B, C such as(1) A alone, (2) B alone, (3) C alone, (4) A with B, (5) A with C, (6) Bwith C, and (7) A with B and with C. As used herein in the context ofdescribing structures, components, items, objects and/or things, thephrase “at least one of A and B” is intended to refer to implementationsincluding any of (1) at least one A, (2) at least one B, and (3) atleast one A and at least one B. Similarly, as used herein in the contextof describing structures, components, items, objects and/or things, thephrase “at least one of A or B” is intended to refer to implementationsincluding any of (1) at least one A, (2) at least one B, and (3) atleast one A and at least one B. As used herein in the context ofdescribing the performance or execution of processes, instructions,actions, activities and/or steps, the phrase “at least one of A and B”is intended to refer to implementations including any of (1) at leastone A, (2) at least one B, and (3) at least one A and at least one B.Similarly, as used herein in the context of describing the performanceor execution of processes, instructions, actions, activities and/orsteps, the phrase “at least one of A or B” is intended to refer toimplementations including any of (1) at least one A, (2) at least one B,and (3) at least one A and at least one B.

Example machine readable instructions 800 that may be executed by thecontroller 116 to perform an operation on a field using a field map areillustrated in FIG. 8. With reference to the preceding figures andassociated description, the example machine readable instructions 800begin with the example controller 116 determining equipment parameter(s)automatically or via manual entry (Block 802). In some examples, theequipment parameter determiner 216 determines equipment parameter(s)automatically (e.g., based on data from the implement 108 and/or fromthe implement sensors 112 a-l), and/or via manual entry (e.g., via entryfrom the operator on the user interface 122).

At block 804, the example controller 116 determines if the currentoperation is the first operation on the field. In some examples, thefield map analyzer 210 determines if the current operation is the firstoperation on the field by comparing a location of the vehicle 102, asdetermined by the location data analyzer 204, with existing field mapsin the map data store 208. If a field map exists, then the currentoperation is not the first operation on the field. Conversely, if afield map does not exist, the current operation is the first operationon the field. In response to the current operation being the firstoperation on the field, processing transfers to block 806. Conversely,in response to the current operation not being the first operation onthe field, processing transfers to block 808.

At block 806, the example controller 116 generates a field map during afirst operation. Further detail of the implementation of block 806 isillustrated and described below in connection with FIG. 9.

At block 808, the example controller 116 retrieves a map associated withthe field. In some examples, the field map analyzer 210 retrieves afield map from the map data store 208 and/or form another location(e.g., a network location) accessible to the controller 116.

At block 810, the example controller 116 determines crop row locations.In some examples, the field map analyzer 210 determines crop rowlocations based on the field map. In some examples, the field mapanalyzer 210 determines crop row locations based on the field map andhistorical implement operation data, as analyzed by the operationperformance tracker 224.

At block 812, the example controller 116 determines guidance line(s)based on crop row locations and implement parameters. In some examples,the guidance line generator 218 generates guidance lines based on croprow locations from the field map analyzer 210 and implement parametersfrom the equipment parameter determiner 216. For example, the guidanceline generator 218 can utilize a known operational width of theimplement 108 to generate guidance lines to perform an operation uponthe crop rows.

At block 814, the example controller 116 displays mapping data and aguidance line on the user interface 122. In some examples, the userinterface configurator causes the user interface 122 to display mappingdata (e.g., a field map) and a guidance line on the user interface 122.An example of such mapping data and a guidance line displayed on theuser interface 122 is illustrated by the run screen 702 of FIG. 7.

At block 816, the example controller 116 automatically guides thevehicle 102 along guidance line(s) and perform operation(s). Furtherdetail of the implementation of block 816 is illustrated and describedbelow in connection with FIG. 10.

At block 818, the example controller 116 determines whether theoperation is complete. In some examples, the user command accessor 212determines, based on user commands entered on the user interface 122,whether the operation is complete. In some examples, the operationperformance tracker 224 determines, based on implementation operationdata and a location of the vehicle 102, whether the operation iscomplete. In response to the operation being complete, processingtransfers to block 820. Conversely, in response to the operation notbeing complete, processing transfers to block 814.

At block 820, the example controller 116 determines whether there is anadditional operation to perform. In some examples, the user commandaccessor 212 determines, based on user commands, whether there is anadditional operation to perform on the field. In response to there beingan additional operation to perform, processing transfers to block 802.Conversely, in response to there not being an additional operation toperform, processing transfers to block 822.

At block 822, the example controller 116 saves implement operation datain association with the field map. In some examples, the operationperformance tracker 242, the field map analyzer 210, the field mapgenerator 206, and/or the map data store 208 save implement operationdata in association with the field map.

Example machine readable instructions 900 that may be executed by thecontroller 116 to generate a first operation map are illustrated in FIG.9. With reference to the preceding figures and associated description,the example machine readable instructions 900 begin with the examplecontroller 116 determining equipment parameter(s) automatically or viamanual entry. In some examples, the equipment parameter determiner 216determines equipment parameter(s) automatically (e.g., based on datafrom the implement 108 and/or from the implement sensors 112 a-l),and/or via manual entry (e.g., via entry from the operator on the userinterface 122).

At block 904, the example controller 116 begins manual or automatedmotion of the vehicle 102 across the field. In some examples, theoperator controls motion of the vehicle 102 by commanding the drivecommander 222, and controls usage of the implement 108 by commanding theimplement commander 220. In some examples, the controller 116automatically operates the vehicle via the drive commander 222 and theimplement commander 220 by generating general guidance lines (e.g.,evenly spaced, linear guidance lines) based on a field dimension andcontinually operating upon the field with all portions of the implement108 via the implement commander 220.

At block 906, the example controller 116 collects location data duringoperation. In some examples, the location data analyzer 204 collects GPSdata and inertial data from the location sensor 114 during operation ofthe vehicle 102.

At block 908, the example controller 116 determines if the fieldoperation is complete. In some examples, the user command accessor 212determines, based on user commands entered into the user interface 122,whether the field operation is complete. In response to the fieldoperation being complete, processing transfers to block 910. Conversely,in response to the field operation not being complete, processingtransfers to block 906.

At block 910, the example controller 116 generates a map for the fieldwhich has been operated upon. In some examples, the field map generator206 generates a map for the field. For example, the field map generator206 can generate the map based on location data from the location dataanalyzer 204 and/or implement operation data from the operationperformance tracker 224.

At block 912, the example controller 116 stores the field map and/oruploads the field map to a network and/or central computing system. Insome examples, the map data store 208 is used to store the field map.

Example machine readable instructions 1000 that may be executed by thecontroller 116 to automatically guide a vehicle along guidance line(s)and perform an operation on a field are illustrated in FIG. 10. Withreference to the preceding figures and associated description, theexample machine readable instructions 1000 begin with the examplecontroller 116 advancing the vehicle 102 along a guidance lineaccounting for curvature and/or contour of the field (Block 1002). Insome examples, the drive commander 222 causes the vehicle 102 to advancealong the guidance line through the field.

At block 1004, the example controller 116 activates portions of theimplement 108 to perform operations on rows which have not been operatedupon. In some examples, the implement commander 220 activates (e.g.,enables, causes use of, etc.) portions of the implement 108 to performoperations on crop rows which have not yet been operated upon, based onimplement operation data as analyzed by the operation performancetracker 224 and based on the field map, as analyzed by the field mapanalyzer 210.

At block 1006, the example controller 116 records implement operationdata. In some examples, the operation performance tracker 224 recordsimplement operation data by storing it in association with a field mapof the current field being operated upon in the map data store 208.

FIG. 11 is a block diagram of an example processor platform 1100structured to execute the instructions of FIGS. 8-10 to implement thecontroller 116 of FIGS. 1 and 2. The processor platform 1100 can be, forexample, a server, a personal computer, a workstation, a self-learningmachine (e.g., a neural network), a mobile device (e.g., a cell phone, asmart phone, a tablet such as an iPad™), a personal digital assistant(PDA), an Internet appliance, a DVD player, a CD player, a digital videorecorder, a Blu-ray player, a gaming console, a personal video recorder,a set top box, a headset or other wearable device, or any other type ofcomputing device.

The processor platform 1100 of the illustrated example includes aprocessor 1112. The processor 1112 of the illustrated example ishardware. For example, the processor 1112 can be implemented by one ormore integrated circuits, logic circuits, microprocessors, GPUs, DSPs,or controllers from any desired family or manufacturer. The hardwareprocessor may be a semiconductor based (e.g., silicon based) device. Inthis example, the processor implements the example field map handler202, the example location data analyzer 204, the example field mapgenerator 206, the example map data store 208, the example field mapanalyzer 210, the example user command accessor 212, the example userinterface configurator 214, the example equipment parameter determiner216, the example guidance line generator 218, the example implementcommander 220, the example drive commander 222, and the exampleoperation performance tracker 224.

The processor 1112 of the illustrated example includes a local memory1113 (e.g., a cache). The processor 1112 of the illustrated example isin communication with a main memory including a volatile memory 1114 anda non-volatile memory 1116 via a bus 1118. The volatile memory 1114 maybe implemented by Synchronous Dynamic Random Access Memory (SDRAM),Dynamic Random Access Memory (DRAM), RAMBUS® Dynamic Random AccessMemory (RDRAM®) and/or any other type of random access memory device.The non-volatile memory 1116 may be implemented by flash memory and/orany other desired type of memory device. Access to the main memory 1114,1116 is controlled by a memory controller.

The processor platform 1100 of the illustrated example also includes aninterface circuit 1120. The interface circuit 1120 may be implemented byany type of interface standard, such as an Ethernet interface, auniversal serial bus (USB), a Bluetooth® interface, a near fieldcommunication (NFC) interface, and/or a PCI express interface.

In the illustrated example, one or more input devices 1122 are connectedto the interface circuit 1120. The input device(s) 1122 permit(s) a userto enter data and/or commands into the processor 1012. The inputdevice(s) can be implemented by, for example, an audio sensor, amicrophone, a camera (still or video), a keyboard, a button, a mouse, atouchscreen, a track-pad, a trackball, isopoint and/or a voicerecognition system.

One or more output devices 1124 are also connected to the interfacecircuit 1120 of the illustrated example. The output devices 1024 can beimplemented, for example, by display devices (e.g., a light emittingdiode (LED), an organic light emitting diode (OLED), a liquid crystaldisplay (LCD), a cathode ray tube display (CRT), an in-place switching(IPS) display, a touchscreen, etc.), a tactile output device, a printerand/or speaker. The interface circuit 1120 of the illustrated example,thus, typically includes a graphics driver card, a graphics driver chipand/or a graphics driver processor.

The interface circuit 1120 of the illustrated example also includes acommunication device such as a transmitter, a receiver, a transceiver, amodem, a residential gateway, a wireless access point, and/or a networkinterface to facilitate exchange of data with external machines (e.g.,computing devices of any kind) via a network 1126. The communication canbe via, for example, an Ethernet connection, a digital subscriber line(DSL) connection, a telephone line connection, a coaxial cable system, asatellite system, a line-of-site wireless system, a cellular telephonesystem, etc.

The processor platform 1100 of the illustrated example also includes oneor more mass storage devices 1128 for storing software and/or data.Examples of such mass storage devices 1128 include floppy disk drives,hard drive disks, compact disk drives, Blu-ray disk drives, redundantarray of independent disks (RAID) systems, and digital versatile disk(DVD) drives.

The machine executable instructions 1132 of FIGS. 1 and 2 may be storedin the mass storage device 1128, in the volatile memory 1114, in thenon-volatile memory 1116, and/or on a removable non-transitory computerreadable storage medium such as a CD or DVD.

From the foregoing, it will be appreciated that example methods,apparatus and articles of manufacture have been disclosed that enableaccurate automated operation of an agricultural vehicle to performoperations on a field by utilizing field mapping data to generateguidance lines that account for differences between types of implements,unique topographical features of the field, unique crop row geometries,and/or other factors.

Although certain example methods, apparatus and articles of manufacturehave been disclosed herein, the scope of coverage of this patent is notlimited thereto. On the contrary, this patent covers all methods,apparatus and articles of manufacture fairly falling within the scope ofthe claims of this patent.

What is claimed is:
 1. An apparatus comprising: a field map generator togenerate a field map including locations of a plurality of crop rows,the locations of the plurality of crop rows determined based on a firstimplement path travelled by a first implement of a first vehicle duringa first operation, the first implement having a first operational width,the first implement path different from a first vehicle path of thefirst vehicle during the first operation; and a guidance line generatorto generate a guidance line for a second vehicle during a secondoperation on the field, the second vehicle including a second implementto perform the second operation, the second implement having a secondoperational width different from the first operational width, theguidance line based on (a) the field map and (b) the second operationalwidth.
 2. The apparatus of claim 1, further including a drive commanderto cause the second vehicle to traverse the field along the guidanceline, the second implement to perform the second operation as the secondvehicle traverses the field.
 3. The apparatus of claim 1, furtherincluding a location data analyzer to obtain at least one of GPS data,inertial data, or implement sensor data from one or more sensors of thefirst vehicle, the field map generator to generate the field map basedon the at least one of the GPS data, the inertial data, or the implementsensor data.
 4. The apparatus of claim 1, further including a userinterface configurator to cause a user interface in a cab of the secondvehicle to display a portion of the field map and the guidance line. 5.The apparatus of claim 1, wherein the first operation is at least one ofa planting operation or a strip till operation, and the second operationis an operation that follows the first operation.
 6. The apparatus ofclaim 1, wherein the guidance line generator is to generate the guidanceline to prevent overlapping of the second operation on the field.
 7. Theapparatus of claim 1, wherein the field map generator is to update thefield map as the second vehicle traverses the field along the guidanceline.
 8. A non-transitory computer readable medium comprisinginstructions that, when executed, cause processor circuitry to: generatea field map including locations of a plurality of crop rows, thelocations of the plurality of crop rows determined based on a firstimplement path travelled by a first implement of a first vehicle duringa first operation, the first implement having a first operational width,the first implement path different from a first vehicle path of thefirst vehicle during the first operation; and generate a guidance linefor a second vehicle during a second operation on the field, the secondvehicle including a second implement to perform the second operation,the second implement having a second operational width different fromthe first operational width, the guidance line based on (a) the fieldmap and (b) the second operational width.
 9. The non-transitory computerreadable medium of claim 8, wherein the instructions, when executed,cause the processor circuitry to cause the second vehicle to traversethe field along the guidance line, the second implement to perform thesecond operation as the second vehicle traverses the field.
 10. Thenon-transitory computer readable medium of claim 8, wherein theinstructions, when executed, cause the processor circuitry to obtain atleast one of GPS data, inertial data, or implement sensor data from oneor more sensors of the first vehicle, the processor circuitry togenerate the field map based on the at least one of the GPS data, theinertial data, or the implement sensor data.
 11. The non-transitorycomputer readable medium of claim 8, wherein the instructions, whenexecuted, cause the processor circuitry to cause a user interface in acab of the second vehicle to display a portion of the field map and theguidance line.
 12. The non-transitory computer readable medium of claim8, wherein the first operation is at least one of a planting operationor a strip till operation, and the second operation is an operation thatfollows the first operation.
 13. The non-transitory computer readablemedium of claim 8, wherein the instructions, when executed, cause theprocessor circuitry to generate the guidance line to prevent overlappingof the second operation on the field.
 14. The non-transitory computerreadable medium of claim 8, wherein the instructions, when executed,cause the processor circuitry to update the field map as the secondvehicle traverses the field along the guidance line.
 15. An apparatuscomprising: memory; instructions; and processor circuitry to execute theinstructions to: generate a field map including locations of a pluralityof crop rows, the locations of the plurality of crop rows determinedbased on a first implement path travelled by a first implement of afirst vehicle during a first operation, the first implement having afirst operational width, the first implement path different from a firstvehicle path of the first vehicle during the first operation; andgenerate a guidance line for a second vehicle during a second operationon the field, the second vehicle including a second implement to performthe second operation, the second implement having a second operationalwidth different from the first operational width, the guidance linebased on (a) the field map and (b) the second operational width.
 16. Theapparatus of claim 15, wherein the processor circuitry is to execute theinstructions to cause the second vehicle to traverse the field along theguidance line, the second implement to perform the second operation asthe second vehicle traverses the field.
 17. The apparatus of claim 15,wherein the processor circuitry is to execute the instructions to obtainat least one of GPS data, inertial data, or implement sensor data fromone or more sensors of the first vehicle, the processor circuitry togenerate the field map based on the at least one of the GPS data, theinertial data, or the implement sensor data.
 18. The apparatus of claim15 wherein the processor circuitry is to execute the instructions tocause a user interface in a cab of the second vehicle to display aportion of the field map and the guidance line.
 19. The apparatus ofclaim 15, wherein the first operation is at least one of a plantingoperation or a strip till operation, and the second operation is anoperation that follows the first operation.
 20. The apparatus of claim15, wherein the processor circuitry is to execute the instructions togenerate the guidance line to prevent overlapping of the secondoperation on the field.